Design And Implementation Of The Motion Control System Of The Substation Inspection Robot

The traditional single inspection method of transformer substation is manual inspection,which has the disadvantages of high labor intensity,low inspection efficiency,inadequate inspection,inconsistent inspection standards,difficult inspection in rainy and snowy weather and so on,moreover,it is difficult to judge objectively,comprehensively and accurately by simply relying on the senses and experience of the inspection personnel,thus laying hidden dangers for the safety of the equipment.Therefore,substation inspection robot comes into being.It can monitor the high-voltage equipment of substation in real time and discover the abnormal condition of the equipment in time under the condition of no one,and can greatly improve the accuracy,real-time property and automation level of the equipment state detection of substation.Substation inspection robot system is a complete and complex system,which is mainly divided into inspection robot mobile body,base station and network channel,while mobile body is the mobile carrier and information control carrier of the whole robot,mainly consisting of mobile body,control system and communication system.The motion control system is the executive mechanism of substation inspection robot.This paper mainly completed the design of the motion control system of the substation inspection robot.Firstly,the motion control principle was analyzed,and the differential drive and S-type acceleration and deceleration control algorithm were used to lay the foundation for the motion control of the robot.Then,according to the requirements of the system,the overall design scheme was given,and then the design of the control circuit hardware and software of the robot system was completed according to the design scheme to realize the change of the robot's different motion states.Through the analysis of the commands issued by the ground station,the speed distribution and coordination of each wheel were carried out,and the different motion commands were completed,and the robot was enabled to complete the obstacle avoidance function by analyzing the parameters of each sensor.Finally,the system is tested and the test results are analyzed,demonstrate that the designed system meets the design requirements.